Package org.robwork.sdurw_geometry

Class OBB

java.lang.Object

org.robwork.sdurw_geometry.OBB

public class OBB
extends java.lang.Object

class representing an Oriented Bounding Box (OBB)

Constructor Summary

Constructors

Constructor	Description
OBB()	constructor
OBB(long cPtr, boolean cMemoryOwn)
OBB(Transform3D t3d, Vector3D halfLng)

Method Summary

Modifier and Type	Method	Description
static OBB	buildTightOBB(TriMesh tris)
static OBB	buildTightOBB(TriMesh tris, long index)
double	calcArea()	calculates the total area of the box
double	calcVolume()	calculate the volume of this OBB
TriMeshPtr	createMesh()	Creates a TriMesh representing the OBB. The triangles of the mesh is by default placed in the "global" frame corresponding to the frame in which the OBB is defined.
TriMeshPtr	createMesh(boolean local)	Creates a TriMesh representing the OBB. The triangles of the mesh is by default placed in the "global" frame corresponding to the frame in which the OBB is defined.
void	delete()
static long	getCPtr(OBB obj)
Vector3D	getHalfLengths()	get the halflengths of this OBB
Transform3D	getTransform()
void	setHalfLengths(Vector3D halfLng)	set the halflengths of the OBB
void	setTransform(Transform3D t3d)	set the transformation of this OBB
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

OBB

public OBB(long cPtr,
           boolean cMemoryOwn)

OBB

public OBB()

constructor

OBB

public OBB(Transform3D t3d,
           Vector3D halfLng)

Method Detail

getCPtr

public static long getCPtr(OBB obj)

delete

public void delete()

getTransform

public Transform3D getTransform()

setTransform

public void setTransform(Transform3D t3d)

set the transformation of this OBB

getHalfLengths

public Vector3D getHalfLengths()

get the halflengths of this OBB

setHalfLengths

public void setHalfLengths(Vector3D halfLng)

set the halflengths of the OBB

calcVolume

public double calcVolume()

calculate the volume of this OBB

calcArea

public double calcArea()

calculates the total area of the box

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

buildTightOBB

public static OBB buildTightOBB(TriMesh tris,
                                long index)

buildTightOBB

public static OBB buildTightOBB(TriMesh tris)

createMesh

public TriMeshPtr createMesh(boolean local)

Creates a TriMesh representing the OBB.

The triangles of the mesh is by default placed in the "global" frame corresponding to the
frame in which the OBB is defined. In case the parameter local is set to true, the
reference frame will be the frame of the OBB itself.

createMesh

public TriMeshPtr createMesh()

Creates a TriMesh representing the OBB.

The triangles of the mesh is by default placed in the "global" frame corresponding to the
frame in which the OBB is defined. In case the parameter local is set to true, the
reference frame will be the frame of the OBB itself.